/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "motor_simulation.h"
#include "bsp_dwt.h"
#include "math.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
typedef struct
{
  float kp;
  float ki;
  float kd;
  float lastcha;
  float integral;
}pid_t;

motorObject_t Motor;
pid_t PID_Velocity;
pid_t PID_Angle;
uint32_t DWT_CNT;
float dt;
float t;

float Current;
float Velocity;
float Angle;
float Input;
float VelocityRef=0.0;
float AngleRef=0.0;
uint32_t Refmode=0;
uint32_t controlmode=0;
float w1=92.7516;
float w2=18.8;
float k=10;
float pai=3.14;
float disturbance=0.0;

float kp=8.14;
float ki=57.0;
double kd=1.96e-05;

float kp1=3;
float ki1=0;
float kd1=500;

void PID_Init(pid_t *PID,float kp,float ki,float kd)
{
  PID->kp=kp;
  PID->ki=ki;
  PID->kd=kd;
  PID->lastcha=0.0;
  PID->integral=0.0;
}


/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
float PID_Calculate(pid_t *PID,float dt,float mubiao,float shiji)
{
  float cha = mubiao - shiji;
  PID->integral += cha*dt;
  float der=(cha - PID->lastcha)/dt;
  float output = PID->kp*cha + PID->ki*PID->integral + PID->kd*der;
  PID->lastcha=cha;
  return output;
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
  
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */
  DWT_Init(72);
  Motor_Object_Init(&Motor);
  PID_Init(&PID_Velocity,kp,ki,kd);
  PID_Init(&PID_Angle,kp1,ki1,kd1);
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    dt=DWT_GetDeltaT(&DWT_CNT);
    t+=dt;
    Current=Get_Motor_Current(&Motor);      //瞬时电流
    Velocity=Get_Motor_Velocity(&Motor);    //瞬时转速
    Angle=Get_Motor_Angle(&Motor);          //瞬时角度

    switch(controlmode)
    {
      case 0:
        VelocityRef=0;AngleRef=0;break;
      case 1:
        if(t<1)
        {
          VelocityRef=0;
          AngleRef=0;
          break;
        }
        else
        {
          VelocityRef=k;
          AngleRef=2*pai;
          break;
        }
      case 2:
        VelocityRef=t;
        break;
      case 3:
        VelocityRef=sin(w1*t);
        AngleRef=sin(w2*t);
        break;
      default:VelocityRef=0;break;
    }

    if(1 == Refmode)
    {
      Input=PID_Calculate(&PID_Velocity,dt,VelocityRef,Velocity);                  //输入电压
    }
    else if(2 == Refmode)
    {
      Input=PID_Calculate(&PID_Velocity,dt,PID_Calculate(&PID_Angle,dt,AngleRef,Angle),Velocity);
      //    先从角度pid输出转速的期望值，再根据转速的期望值得到输入电压
    }

    Motor_Simulation(&Motor,Input+disturbance,dt);    
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    HAL_Delay(1);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 */

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
